68 lines
2.0 KiB
C++
68 lines
2.0 KiB
C++
|
/*
|
||
|
|
* testSimulated2DOriented.cpp
|
||
|
|
*
|
||
|
|
* Created on: Jun 10, 2010
|
||
|
|
* Author: nikai
|
||
|
|
* Description: unit tests for simulated2DOriented
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <iostream>
|
||
|
|
#include <CppUnitLite/TestHarness.h>
|
||
|
|
|
||
|
|
#include "numericalDerivative.h"
|
||
|
|
#include "Simulated2DConfig.h"
|
||
|
|
#include "simulated2DOriented.h"
|
||
|
|
#include "Simulated2DOrientedOdometry.h"
|
||
|
|
|
||
|
|
using namespace gtsam;
|
||
|
|
using namespace std;
|
||
|
|
using namespace simulated2DOriented;
|
||
|
|
|
||
|
|
/* ************************************************************************* */
|
||
|
|
TEST( simulated2DOriented, Simulated2DConfig )
|
||
|
|
{
|
||
|
|
Simulated2DConfig actual;
|
||
|
|
actual.insertPose(1,Point2(1,1));
|
||
|
|
actual.insertPoint(2,Point2(2,2));
|
||
|
|
CHECK(assert_equal(actual,actual,1e-9));
|
||
|
|
}
|
||
|
|
|
||
|
|
/* ************************************************************************* */
|
||
|
|
TEST( simulated2DOriented, Dprior )
|
||
|
|
{
|
||
|
|
Pose2 x(1,-9, 0.1);
|
||
|
|
Matrix numerical = numericalDerivative11(prior,x);
|
||
|
|
Matrix computed;
|
||
|
|
prior(x,computed);
|
||
|
|
CHECK(assert_equal(numerical,computed,1e-9));
|
||
|
|
}
|
||
|
|
|
||
|
|
/* ************************************************************************* */
|
||
|
|
TEST( simulated2DOriented, DOdo )
|
||
|
|
{
|
||
|
|
Pose2 x1(1,-9,0.1),x2(-5,6,0.2);
|
||
|
|
Matrix H1,H2;
|
||
|
|
odo(x1,x2,H1,H2);
|
||
|
|
Matrix A1 = numericalDerivative21(odo,x1,x2);
|
||
|
|
CHECK(assert_equal(A1,H1,1e-9));
|
||
|
|
Matrix A2 = numericalDerivative22(odo,x1,x2);
|
||
|
|
CHECK(assert_equal(A2,H2,1e-9));
|
||
|
|
}
|
||
|
|
|
||
|
|
/* ************************************************************************* */
|
||
|
|
TEST( simulated2DOriented, constructor )
|
||
|
|
{
|
||
|
|
Pose2 measurement(0.2, 0.3, 0.1);
|
||
|
|
SharedDiagonal model(Vector_(3, 1., 1., 1.));
|
||
|
|
Simulated2DOrientedOdometry factor(measurement, model, PoseKey(1), PoseKey(2));
|
||
|
|
|
||
|
|
Config config;
|
||
|
|
config.insert(PoseKey(1), Pose2(1., 0., 0.2));
|
||
|
|
config.insert(PoseKey(2), Pose2(2., 0., 0.1));
|
||
|
|
boost::shared_ptr<GaussianFactor> lf = factor.linearize(config);
|
||
|
|
}
|
||
|
|
|
||
|
|
/* ************************************************************************* */
|
||
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
|
||
|
|
/* ************************************************************************* */
|